CN107499802A - A kind of application method of logistics code fetch car suitable for freight container - Google Patents
A kind of application method of logistics code fetch car suitable for freight container Download PDFInfo
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- CN107499802A CN107499802A CN201710681438.4A CN201710681438A CN107499802A CN 107499802 A CN107499802 A CN 107499802A CN 201710681438 A CN201710681438 A CN 201710681438A CN 107499802 A CN107499802 A CN 107499802A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of application method of the logistics code fetch car suitable for freight container, including handling prepare, charge and discharge operations step.Work department includes door frame, goods shelf and pallet fork.This application method for being applied to the logistics code fetch car of freight container is operated using computer auto-control completely, the goods vanning positional information of freight container is inputted to the industrial control computer of electric-control system by data input output ports, prestowage scheme, goods piles up coordinate position, cargo size, after the data messages such as freight container inside dimension, industrial control computer is according to the goods information control running part action coordinate movement inputted, industrial control computer automatically adjusts the span between pallet fork according to the goods information of input simultaneously, and establish fork holding position and fork dress depth mathematical modeling, then hydraulic system is controlled to make door frame pitching hydraulic cylinder according to mathematical modeling, the action of crotch lifting hydraulic cylinder piled up from moving fork dress.
Description
Technical field
The present invention relates to a kind of application method of logistics code fetch car, a kind of specifically logistics suitable for freight container takes
The application method of code car, belongs to Intelligent logistics technical equipment field.
Background technology
Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, REID, sensor, global positioning system
Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communications technology platform
Basic activity link, automatic operation and the high efficiency optimum management of cargo transport process are realized, improve the service of logistic industry
Level, cost is reduced, reduce natural resources and social resources consumption, the development of Intelligent logistics will promote the development of regional economy
Distributed rationally with world resource, realize socialization.
Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings
Important function, and warehousing management is also to be generally comprised in logistic storage in occupation of the status of core, accurate warehouse process simultaneously
Receive, restocking, pick up goods, replenish, delivering, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art
Defeated car, i.e., homing guidance device is magnetically or optically waited equipped with electricity, the transport vehicle with safeguard protection and various transfer functions, thing
Driver is not required in stream storage application, using rechargeable battery as its power resources, typically its traveling road can be controlled by computer
Line and behavior set up its course to realize the allocation and transportation of warehoused cargo using electromagnetic path, but for replenishing or
The handling goods that delivery disengaging warehouse is carried out during container shipping piles up operation and still largely uses manual operation, i.e. operator
Member's driving fork truck is loaded and unloaded, and especially for carriage of container cargo, how rational deployment makes the space availability ratio of container
It is maximum, how reasonable prestowage layout makes container be easy to the container problems such as multi-destination transport to cause the vanning of container or unload
Load uses manual operation always at present.
Following defect be present in the mode of production of this traditional manual operation vanning or unloading：
1. although storage process or outbound process have realized automation mechanized operation, the vanning or unloading of container still use people
Work operates, therefore logistic storage integrated automation degree reduces, efficiency is low；
2. carried out due to being put in storage process or outbound process generally use automatical pilot transportation vehicle or conveyer belt in the prior art
To transmit, the speed of manual operation vanning or unloading to keep up with storage or the speed of outbound just can guarantee that the efficiency that storage is transported, because
This labor intensity of operating staff is larger；
3. the human factors such as the sense of responsibility of operating personnel, mood have a great influence to progress of cargo work.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of logistics code fetch car suitable for freight container
Application method, automaticity is higher, can realize intelligent operation, improve the efficiency of loading and unloading, especially suitable for logistic storage
Handling goods in container shipping piles up operation.
To achieve these goals, the used logistics code fetch car suitable for freight container include vehicle frame, running part,
Pivoting support, support platform, work department, hydraulic system and electric-control system；
Described running part is arranged on the bottom of vehicle frame, is provided with hoofing part inside running part, described support platform is led to
Cross pivoting support to set up on vehicle frame, described pivoting support drives provided with hydraulic gyration, described work department, hydraulic pressure
System and electric-control system are installed in support platform；
Described work department includes door frame, goods shelf and pallet fork；The bottom of door frame is articulated and connected in the front end of support platform,
The support body of door frame is connected by door frame pitching hydraulic cylinder with support platform；The front end that goods shelf passes through crotch guiding mechanism and door frame
Face is slided and is fitted and connected, and the support body of goods shelf is connected by crotch lifting hydraulic cylinder with door frame, and barcode scanning knowledge is additionally provided with goods shelf
Other device and range sensor；Pallet fork is symmetrical set as two pieces, is arranged on pallet fork by the erection of pallet fork sliding guide mechanism
On frame, and the pallet fork that pallet fork is set by left and right directions elapses part and goods shelf installation connection；
Described hydraulic system includes hydraulic power unit and control valve group, and hydraulic power unit is connected by fluid pressure line and control valve group
Connect, control valve group is connected with hydraulic gyration driving, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder respectively by fluid pressure line；
Described electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, fixed
Position chip, the elements of a fix move control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, work
Industry control computer is built-in with the whole geographical location coordinate information of loading/unloading platform, industrial control computer respectively with battery pack,
Data input output ports, running part, hydraulic system, pallet fork elapse part, the barcode scanning identification device on goods shelf and apart from biographies
Sensor electrically connects；
A kind of application method of logistics code fetch car suitable for freight container, specifically includes following steps：
A. handling prepare：Shipping packaging behind the setting position that the vehicle for being loaded with freight container is stuck under loading/unloading platform
The bottom plate of case is docked with loading/unloading platform and is located in the same horizontal plane and opens chamber door, and operating personnel are exported by data input
Port inputs the goods vanning positional information, prestowage scheme, goods of freight container to the industrial control computer of electric-control system
Pile up coordinate position, cargo size, freight container inside dimension data message；
B. charge and discharge operations：
During incasement operation, the goods that need to be cased is transported to goods successively by automatical pilot transportation vehicle according to prestowage scheme first
Thing piles up coordinate position, then this logistics code fetch car start, industrial control computer control the elements of a fix movement control loop and
Pallet fork span regulating loop is started working, and industrial control computer controls running part (2) to act according to the goods information inputted
Coordinate moves, while industrial control computer controls pallet fork passage component actuation to make pallet fork according to the cargo size information of input
(53) span between is adjusted to the setting width dimensions for coordinating cargo size；Then control is reprinted in industrial control computer control
Loop and apart from feedback control loop start working, industrial control computer is according to the cargo size information and goods code inputted
The feedback identifying information for putting co-ordinate position information and the barcode scanning identification device on goods shelf (52) establishes goods fork holding position and fork
Depth mathematical modeling is filled, then industrial control computer controls hydraulic system to make door frame pitching hydraulic cylinder, fork according to mathematical modeling
The action of frame lifting hydraulic cylinder carries out fork dress, the range sensor Real-time Feedback goods shelf (52) during fork fills on goods shelf (52)
The distance between goods fills depth to ensure to pitch；Complete goods fork and fill postindustrial control computer according to prestowage scheme and goods
Goods is carried out pitching dress successively and sat by vanning positional information, freight container inside dimension data message order on Self-loading-unloading platform
Mark is moved to setting position in freight container and piles up completion vanning；
Unload operation when, this logistics code fetch car start, industrial control computer control the elements of a fix movement control loop and
Pallet fork span regulating loop is started working, and industrial control computer is believed according to the freight container inside dimension data inputted
Breath, cargo size information, goods vanning positional information and prestowage scheme control running part (2) action coordinate are moved to shipping packaging
In case, at the same industrial control computer according to the cargo size information of input control pallet fork passage component actuation make pallet fork (53) it
Between span adjust to coordinate cargo size setting width dimensions；Then industrial control computer control reprint control loop and
Started working apart from feedback control loop, industrial control computer piles up coordinate according to the cargo size information and goods that have inputted
Positional information and the feedback identifying information of the barcode scanning identification device on goods shelf (52) establish goods fork holding position and fork dress depth
Mathematical modeling, then industrial control computer according to mathematical modeling control hydraulic system make door frame pitching hydraulic cylinder, crotch lift
Hydraulic cylinder action carries out fork dress, range sensor Real-time Feedback goods shelf (52) and goods during fork fills on goods shelf (52)
The distance between with ensure pitch dress depth；Complete goods fork and fill postindustrial control computer control running part (2) action coordinate shifting
The setting coordinate position moved to loading/unloading platform is piled up, while is identified according to the barcode scanning in prestowage scheme and goods shelf (52)
The goods information of device feedback carries out record coordinate position, the like, until all fork dress is piled up to loading/unloading platform by goods
On setting coordinate position complete unload.
Scheme as a further improvement on the present invention, also include pattern-recognition on the goods shelf of used logistics code fetch car
Sensor, electric-control system also include fork holding position position control loop, and industrial control computer is electrically connected with pattern-recognition sensor
Connect；Industrial control computer is according to cargo size information and pattern-recognition sensor during goods fork fills in described step b
The cargo location information of feedback establishes goods pattern-recognition data model, and by the goods pattern-recognition data model with having established
Fork holding position and fork dress depth mathematical modeling carry out correction integration, finally according to correction integrate after mathematical modeling control hydraulic pressure
System makes door frame pitching hydraulic cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress.
Scheme as a further improvement on the present invention, the data input output ports of used logistics code fetch car also include
Radio receiving transmitting module, electric-control system also include wireless receiving and dispatching control loop；Industrial control computer passes through nothing in described step a
The goods vanning position that line transceiver module and wireless receiving and dispatching control loop receive freight container from upper end network using being wirelessly transferred
Confidence breath, prestowage scheme, goods pile up coordinate position, cargo size, freight container inside dimension data message；Described step
Industrial control computer is in real time to upper end network feedback data information in rapid b cargo handling processes.
Scheme as a further improvement on the present invention, the vehicle frame of used logistics code fetch car are provided with multiple vertical directions
The support of setting carries auxiliary hydraulic cylinder, and multiple supports carry auxiliary hydraulic cylinder and are uniformly arranged around pivoting support, and support carries auxiliary hydraulic cylinder
Cylinder body end is fixedly mounted on vehicle frame, and support carries the roller that roller arrangement and roller arrangement are provided with the top of the telescopic end of auxiliary hydraulic cylinder
Take turns axis extended line to set by the centre of gyration of pivoting support, support carries auxiliary hydraulic cylinder and passes through fluid pressure line and hydraulic system
Control valve group connection, described electric-control system also includes Auxiliary support loop；When input in described step b cargo handling processes
Auxiliary support loop when goods payload ratings information exceedes industrial control computer default heavy load starting weight in prestowage scheme
Work is first begin to, industrial control computer control hydraulic system makes support load auxiliary hydraulic cylinder stretching support act against support platform
Baseplane on carry out auxiliary support carry, then industrial control computer controls hydraulic system to make door frame pitching hydraulic cylinder, crotch again
Lifting hydraulic cylinder action carries out fork dress.
As a kind of embodiment of running part of the present invention, described running part is universal to roller arrangement, and running part is extremely
Include four disk rollers less, described hoofing part at least coordinates to be driven including four disk rollers, every disk roller respectively with a roller
Wheel drive connects, and the roll outer surface of disk roller is provided with multiple along the spiral spiral salient in roll outer surface and multiple spiral shells
Rotation projection is uniformly arranged along the pivot of disk roller, is arranged concentrically per two pieces disk roller and is respectively relative to that vehicle frame is symmetrical to be set
Put and form front roller wheel group and rear roll group, and front roller wheel group and rear roll group before and after vehicle frame relative to being symmetrical arranged；Four disk rollers
Driving electrically connects with the industrial control computer of electric-control system respectively；Industrial control computer passes through control in described step b
The trend of different rotation directions and friction speed the control vehicle frame of four disk roller drivings.
As a kind of embodiment of pallet fork of the present invention passage part, described pallet fork passage part includes pallet fork passage and watched
Take motor and it is horizontal set up the bidirectional screw bar being arranged on goods shelf, bidirectional screw bar and pallet fork elapse servomotor be connected,
And there is oppositely oriented screw structure on the body of rod of bidirectional screw bar left and right ends, described pallet fork is provided with and two-way spiral shell
Swing arm coordinates the industrial control computer electricity of the screw being arranged on bidirectional screw bar, pallet fork passage servomotor and electric-control system
Connection；In described step b between rotating regulation pallet fork of the industrial control computer by controlling pallet fork passage servomotor
Span.
As the another embodiment of pallet fork of the present invention passage part, described pallet fork passage part includes horizontal set up
The two pieces pallet fork passage hydraulic cylinder that on goods shelf, telescopic direction is reversed, two pieces pallet fork passage hydraulic cylinder are stretched
Contracting end is connected with two pieces pallet fork respectively, and two pieces pallet fork elapses control valve group of the hydraulic cylinder respectively with hydraulic system and passes through fluid pressure line
Connection；Industrial control computer is grown by controlling hydraulic system two pieces pallet fork is elapsed the stretching of hydraulic cylinder in described step b
The unbalance loading fork dress of span or pallet fork between degree different adjustment pallet fork piles up position.
Compared with prior art, this logistics code fetch car for being applied to freight container is fully digitalization control unit, can
Concentration digital management is realized to be seamlessly connected with the number bus of Intelligent logistics；Because industrial control computer is built-in with handling
The whole geographical location coordinate information and positioning chip of platform, and running part, pivoting support and work department use computer completely
Auto-control operates, therefore inputs shipping packaging to the industrial control computer of electric-control system by data input output ports
The goods vanning positional information of case, prestowage scheme, goods pile up coordinate position, cargo size, freight container inside dimension etc.
After data message, industrial control computer moves according to the goods information control running part action coordinate inputted, while industry
Control computer controls pallet fork passage component actuation the span between pallet fork is adjusted to cooperation goods according to the goods information of input
The setting width dimensions of thing size, and according to the barcode scanning identification device in the information and goods shelf inputted and range sensor
Feedback information, fork holding position and fork dress depth mathematical modeling are established, then controls hydraulic system door frame is bowed according to mathematical modeling
Face upward hydraulic cylinder, the action of crotch lifting hydraulic cylinder carries out fork dress handling, the operation of complete computer auto-control can be avoided because of operator
The influences of the human factor to manufacturing schedule such as member's sense of responsibility, mood, while can be from operating personnel's operative skill qualification
Limitation, the drawbacks of avoiding manual operation from existing completely, intelligent operation can be realized, improve the efficiency of loading and unloading, especially suitable for logistics
Handling goods in the container shipping of storage piles up operation.
Brief description of the drawings
Fig. 1 is three dimensional structure diagram when logistics code fetch car used in the present invention carries out handling freight container；
Fig. 2 is three-dimensional structure signal when logistics code fetch car used in the present invention uses the universal running part to roller arrangement
Figure；
Fig. 3 is Fig. 2 bottom view；
Fig. 4 is three dimensional structure diagram when logistics code fetch car used in the present invention uses caterpillar belt structure running part；
Fig. 5 is the three dimensional structure diagram that logistics code fetch car used in the present invention carries out code fetch to freight container.
In figure：1st, vehicle frame, 11, support carry auxiliary hydraulic cylinder, 2, running part, 3, pivoting support, 4, support platform, 5, work
Portion, 51, door frame, 52, goods shelf, 53, pallet fork.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings (is arranged on the direction in support platform 4 with work department 5 below
Described for front).
As shown in Figure 1, Figure 2, Figure 4 shows, this logistics code fetch car for being applied to freight container includes vehicle frame 1, running part 2, returned
Turn supporting 3, support platform 4, work department 5, hydraulic system and electric-control system.
Described running part 2 is arranged on the bottom of vehicle frame 1, and the inside of running part 2 is provided with hoofing part, described support platform
4 are set up on vehicle frame 1 by pivoting support 3, and described pivoting support 3 drives provided with hydraulic gyration, pivoting support 3
Setting can make the increase of this logistics code fetch car free degree, be suitable for narrow separation space, described work department 5, hydraulic pressure system
System and electric-control system are installed in support platform 4.
Described work department 5 includes door frame 51, goods shelf 52 and pallet fork 53；The bottom of door frame 51 is articulated and connected flat in support
The front end of platform 4, the support body of door frame 51 is connected by door frame pitching hydraulic cylinder with support platform 4, by controlling door frame pitching hydraulic pressure
The flexible of cylinder can realize that door frame 51 is overall along its jointed shaft fore-and-aft direction pitching motion；Goods shelf 52 passes through crotch guiding mechanism
Slide and be fitted and connected with the front end face of door frame 51, the support body of goods shelf 52 is connected by crotch lifting hydraulic cylinder with door frame 51, is led to
Crossing control crotch lifting hydraulic cylinder flexible, can to realize that goods shelf 52 moves up and down on door frame 51 along crotch guiding mechanism dynamic
Make, barcode scanning identification device and range sensor are additionally provided with goods shelf 52；Pallet fork 53 is symmetrical set as two pieces, passes through pallet fork
Sliding guide mechanism, which is set up, to be arranged on goods shelf 52, and the pallet fork that pallet fork 53 is set by left and right directions elapses part and pallet fork
The installation connection of frame 52, by controlling the action of pallet fork passage part to realize the regulation of span between pallet fork 53.
Described hydraulic system includes hydraulic power unit and control valve group, and hydraulic power unit is connected by fluid pressure line and control valve group
Connect, control valve group is connected with hydraulic gyration driving, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder respectively by fluid pressure line.
Described electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, fixed
Position chip, the elements of a fix move control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, work
Industry control computer is built-in with the whole geographical location coordinate information of loading/unloading platform, positioning chip can use GPS location chip,
The satellite fix such as Big Dipper positioning chip chip or use radar fix chip, industrial control computer respectively with battery pack, data
Input/output port, running part 2, hydraulic system, pallet fork passage part, barcode scanning identification device and Distance-sensing on goods shelf 52
Device electrically connects.
This is applied to the operation principle of the logistics code fetch car of freight container：Before code fetch operation is carried out, shipping will be loaded with
The bottom plate of freight container docks simultaneously position with loading/unloading platform behind the setting position that the vehicle of container is stuck under loading/unloading platform
In in same level and opening chamber door, Industry Control meter of the operating personnel by data input output ports to electric-control system
The goods vanning positional information of calculation machine input freight container, prestowage scheme, goods pile up coordinate position, cargo size, shipping
Internal container sized data information；
During incasement operation, the goods that need to be cased is transported to goods successively by automatical pilot transportation vehicle according to prestowage scheme first
Thing piles up coordinate position, then this logistics code fetch car start, industrial control computer control the elements of a fix movement control loop and
Pallet fork span regulating loop is started working, and industrial control computer is sat according to the goods information control action of running part 2 inputted
Mark movement, while industrial control computer according to the cargo size information of input control pallet fork passage component actuation make pallet fork 53 it
Between span adjust to coordinate cargo size setting width dimensions；Then industrial control computer control reprint control loop and
Started working apart from feedback control loop, industrial control computer piles up coordinate according to the cargo size information and goods that have inputted
The feedback identifying information of barcode scanning identification device in positional information and goods shelf 52 establishes goods fork holding position and fork dress depth number
Model is learned, then industrial control computer controls hydraulic system door frame pitching hydraulic cylinder, crotch is lifted liquid according to mathematical modeling
Cylinder pressure, which acts, carries out fork dress, between the range sensor Real-time Feedback goods shelf 52 and goods during fork dress on goods shelf 52
Distance fills depth to ensure to pitch；Complete goods fork and fill postindustrial control computer according to prestowage scheme and goods vanning position letter
Breath, freight container inside dimension data message order carry out pitching dress successively on Self-loading-unloading platform by goods and coordinate is moved to goods
Transport setting position in container and pile up completion vanning；
Unload operation when, this logistics code fetch car start, industrial control computer control the elements of a fix movement control loop and
Pallet fork span regulating loop is started working, and industrial control computer is believed according to the freight container inside dimension data inputted
Breath, cargo size information, goods vanning positional information and prestowage scheme control running part 2 act coordinate and are moved to freight container
It is interior, while industrial control computer controls pallet fork passage component actuation to make between pallet fork 53 according to the cargo size information of input
Span is adjusted to the setting width dimensions for coordinating cargo size；Then control loop and distance are reprinted in industrial control computer control
Feedback control loop is started working, and industrial control computer piles up coordinate position according to the cargo size information and goods that have inputted
The feedback identifying information of barcode scanning identification device in information and goods shelf 52 establishes goods fork holding position and fork dress depth mathematical modulo
Type, then industrial control computer according to mathematical modeling control hydraulic system make door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder
Action carries out the distance between fork dress, range sensor Real-time Feedback goods shelf 52 and goods during fork fills on goods shelf 52
To ensure to pitch dress depth；Completion goods fork fills postindustrial control computer control running part 2 action coordinate and is moved to loading/unloading platform
On setting coordinate position piled up, while according in prestowage scheme and goods shelf 52 barcode scanning identification device feed back goods
Information carries out record coordinate position, the like, until all fork dress piles up the setting coordinate bit to loading/unloading platform by goods
Completion is put to unload.
Filled to ensure accurately to pitch, as a further improvement on the present invention scheme, also include mould on described goods shelf 52
Formula identification sensor, described electric-control system also include fork holding position position control loop, described industrial control computer with
Pattern-recognition sensor electrically connects；Industrial control computer is according to the goods of cargo size information and pattern-recognition sensor feedback
Positional information establishes goods pattern-recognition data model, and by the goods pattern-recognition data model and the fork holding position established
Correction integration is carried out with fork dress depth mathematical modeling, the mathematical modeling control hydraulic system after finally being integrated according to correction makes door frame
Pitching hydraulic cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress.
In order to realize more efficiently Real Data Exchangs and control, improve the efficiency of loading and unloading, as further changing for the present invention
Enter scheme, described data input output ports also include radio receiving transmitting module, and described electric-control system also includes wireless receiving and dispatching
Control loop；Industrial control computer can be before handling using wireless by radio receiving transmitting module and wireless receiving and dispatching control loop
The goods vanning positional information, prestowage scheme, goods for being transferred from upper end network reception freight container pile up coordinate position, goods
The data messages such as size, freight container inside dimension, and realize to load and unload to upper end network-feedback in real time in cargo handling process and have
Body situation, on the one hand can realize coordinate automatical pilot transportation vehicle carried out in binning process on Self-loading-unloading platform fixed point fork dress,
Fixed point is carried out on loading/unloading platform to pile up, shorten what this logistics code fetch car was walked during fork dress is piled up during unloading
Distance, improve the efficiency of loading and unloading；Another aspect operating personnel can carry out real time remote error correct to this logistics code fetch car.
Because hard point is located at the front portion of support platform 4 when fork fills, in order to prevent the unbalance loading during heavy duty fork dress from causing
The damage of pivoting support 3, scheme, described vehicle frame 1 are set provided with multiple vertical directions as a further improvement on the present invention
Support carry auxiliary hydraulic cylinder 11, it is multiple support carry auxiliary hydraulic cylinders 11 be uniformly arranged around pivoting support 3, support load auxiliary hydraulic cylinder 11
Cylinder body end be fixedly mounted on vehicle frame 1, support carry auxiliary hydraulic cylinder 11 telescopic end at the top of be provided with roller arrangement and roller arrangement
Disk roller axis extended line by pivoting support 3 the centre of gyration set, support carry auxiliary hydraulic cylinder 11 by fluid pressure line with
The control valve group connection of hydraulic system, described electric-control system also include Auxiliary support loop；When goods in the prestowage scheme of input
Auxiliary support loop is first begin to work when thing payload ratings information exceedes industrial control computer default heavy load starting weight,
Industrial control computer control hydraulic system makes the support load stretching support of auxiliary hydraulic cylinder 11 act against on the baseplane of support platform 4
Carry out auxiliary support to carry, then industrial control computer controls hydraulic system to make door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder again
Action carries out fork dress.
The relatively narrow and small freight container of goods and space for lighter in weight, in order to realize that this logistics code fetch car is bigger
Flexibility, as a kind of embodiment of running part 2 of the present invention, described running part 2 be it is universal to roller arrangement, as Fig. 2,
Shown in Fig. 3, running part 2 includes four disk rollers, and described hoofing part includes four disk rollers and driven, and every disk roller is respectively with one
Part disk roller drive connection, the roll outer surface of disk roller is provided with multiple along the spiral spiral salient in roll outer surface and more
Individual spiral salient is uniformly arranged along the pivot of disk roller, and spiral salient can carry during disk roller is in rotary moving with ground friction
For favouring the component of disk roller moving direction and then steering can be realized, it is arranged concentrically per two pieces disk roller and is respectively relative to car
Frame 1, which is symmetrical set, forms front roller wheel group and rear roll group, and front roller wheel group and rear roll group are relative to symmetrical before and after vehicle frame 1
Set；Four disk roller drivings electrically connect with the industrial control computer of electric-control system respectively；Industrial control computer controls simultaneously
Four disk rollers can realize four equidirectional rotations of disk roller when driving equidirectional rotation, before being now made up of respectively two pieces disk roller
The component that disk roller moving direction is favoured caused by roller set and rear roll group cancels each other, and realizes that vehicle frame 1 keeps straight line moving；
Industrial control computer controls the front and rear two pieces disk roller equidirectional rotation simultaneously in the left side of vehicle frame 1, front and rear the two of the right side of vehicle frame 1 simultaneously
Partial stack occurs for the opposite direction rotation simultaneously of part disk roller, the component that disk roller moving direction is now favoured caused by four disk rollers,
And then realize steering of the vehicle frame 1 to Direction of superposition；Industrial control computer controls the mutually opposite direction rotation simultaneously of four disk rollers simultaneously
Turn, all superpositions, and then realize vehicle frame 1 to superposition occur for the component that disk roller moving direction is now favoured caused by four disk rollers
The translation in direction；The universal running part 2 to roller arrangement can realize that vehicle frame 1 rotates in place in the range of ± 360 °, coordinate back
The hydraulic gyration drive actions for turning supporting 3 are applicable to the relatively narrow and small freight container in space.
The relatively large freight container of goods and space for heavier-weight, in order to reduce this logistics code fetch of heavy duty
Injury of the car to freight container chassis, as the another embodiment of running part 2 of the present invention, described running part 2 is to carry out
Band structure, running part 2 include track beam, crawler belt, hydraulic-driven wheel and guide roller, and described hoofing part includes walking hydraulic pressure
The control valve group of motor, hydraulic motor travel motor and hydraulic system is connected by fluid pressure line.
Situation about coordinating for the width dimensions inside goods width dimensions and freight container, is pushed away as pallet fork of the present invention
A kind of embodiment of part is moved, described pallet fork passage part includes pallet fork passage servomotor and horizontal erection is arranged on goods
Bidirectional screw bar on crotch 52, bidirectional screw bar is connected with pallet fork passage servomotor and bidirectional screw bar left and right ends bar
There is oppositely oriented screw structure, described pallet fork 53, which is provided with to coordinate with bidirectional screw bar, is arranged on two-way spiral shell on body
Screw on swing arm, pallet fork passage servomotor electrically connect with the industrial control computer of electric-control system；Pass through Industry Control meter
The rotating of calculation machine control pallet fork passage servomotor can realize the regulation of span between pallet fork 53.
For cargo size it is smaller, need unbalance loading fork dress handling situation, as pallet fork of the present invention passage part another kind
Embodiment, described pallet fork passage part are arranged on goods shelf 52, telescopic direction including horizontal erection and are reversed
Two pieces pallet fork elapses hydraulic cylinder, and the telescopic end of two pieces pallet fork passage hydraulic cylinder is connected with two pieces pallet fork 53 respectively, and two pieces pallet fork pushes away
Liquid relief cylinder pressure is connected with the control valve group of hydraulic system by fluid pressure line respectively；Hydraulic pressure system is controlled by industrial control computer
System allows the extension elongation difference of two pieces pallet fork passage hydraulic cylinder to realize the inclined of the regulation of span between pallet fork 53 or pallet fork 53
Carry fork holding position.
This logistics code fetch car for being applied to freight container coordinates what is be adapted in the case of with enough bearing capacitys
Fork dress frock may be equally applicable for the code fetch to freight container, as shown in figure 5, can be adopted for 40 feet of freight containers
The form Synchronization Control movement at two head end bottoms or two furred ceiling is carried out to freight container with two frame this logistics code fetch cars or is enumerated
Load, for 20 feet of freight containers frame this logistics code fetch car can be used to carry out traditional side to freight container and pitched
The mode of dress controls movement or enumerates loading.
This logistics code fetch car for being applied to freight container is fully digitalization control unit, can be with the number of Intelligent logistics
Word bus, which is seamlessly connected, realizes concentration digital management；Because industrial control computer is built-in with the whole geographical position of loading/unloading platform
Coordinate information and positioning chip are put, and running part 2, pivoting support 3 and work department 5 are grasped using computer auto-control completely
Make, therefore input the goods vanning of freight container to the industrial control computer of electric-control system by data input output ports
After positional information, prestowage scheme, goods pile up the data messages such as coordinate position, cargo size, freight container inside dimension, work
Industry control computer acts coordinate movement, while industrial control computer root according to the goods information control running part 2 inputted
The span between pallet fork 53 is set to adjust setting to cooperation cargo size according to the goods information control pallet fork passage component actuation of input
Determine width dimensions, and according to the barcode scanning identification device and the feedback letter of range sensor in the information and goods shelf 52 inputted
Breath, fork holding position and fork dress depth mathematical modeling are established, then controls hydraulic system to make door frame pitching hydraulic pressure according to mathematical modeling
Cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress handling, and complete computer auto-control operation can be avoided because of operating personnel's responsibility
Influence of the human factors such as the heart, mood to manufacturing schedule, while can be complete from the limitation of operating personnel's operative skill qualification
Full the drawbacks of avoiding manual operation from existing, intelligent operation can be realized, improve the efficiency of loading and unloading, the collection especially suitable for logistic storage
Ship it is defeated in handling goods pile up operation.
Claims (7)
1. a kind of application method of logistics code fetch car suitable for freight container, used logistics code fetch car include vehicle frame
(1), running part (2), pivoting support (3), support platform (4), work department (5), hydraulic system and electric-control system；
Described running part (2) is arranged on the bottom of vehicle frame (1), is provided with hoofing part inside running part (2), described support is put down
Platform (4) is set up by pivoting support (3) and is arranged on vehicle frame (1), and described pivoting support (3) drives provided with hydraulic gyration,
Described work department (5), hydraulic system and electric-control system is installed in support platform (4)；
Described work department (5) includes door frame (51), goods shelf (52) and pallet fork (53)；The bottom of door frame (51) be articulated and connected in
The front end of support platform (4), the support body of door frame (51) are connected by door frame pitching hydraulic cylinder with support platform (4)；Goods shelf
(52) slided and be fitted and connected by the front end face of crotch guiding mechanism and door frame (51), the support body of goods shelf (52) passes through crotch liter
Descending liquid cylinder pressure is connected with door frame (51), and goods shelf is additionally provided with barcode scanning identification device and range sensor on (52)；Pallet fork (53) is left
The right side is symmetrical arranged as two pieces, set up by pallet fork sliding guide mechanism on goods shelf (52), and pallet fork (53) passes through a left side
The pallet fork passage part that right direction is set connects with goods shelf (52) installation；
Described hydraulic system includes hydraulic power unit and control valve group, and hydraulic power unit is connected by fluid pressure line with control valve group,
Control valve group is connected with hydraulic gyration driving, door frame pitching hydraulic cylinder, crotch lifting hydraulic cylinder respectively by fluid pressure line；
Described electric-control system includes battery pack, industrial control computer, electric power loop, data input output ports, locating core
Piece, the elements of a fix move control loop, apart from feedback control loop, pallet fork span regulating loop, reprinting control loop, industry control
Built-in computer processed has a whole geographical location coordinate information of loading/unloading platform, industrial control computer respectively with battery pack, data
Input/output port, running part (2), hydraulic system, pallet fork passage part, barcode scanning identification device and distance on goods shelf (52)
Sensor electrically connects；
Characterized in that, application method specifically includes following steps：
A. handling prepare：Freight container behind the setting position that the vehicle for being loaded with freight container is stuck under loading/unloading platform
Bottom plate docks with loading/unloading platform and is located in the same horizontal plane and opens chamber door, and operating personnel pass through data input output ports
The goods vanning positional information, prestowage scheme, goods that freight container is inputted to the industrial control computer of electric-control system are piled up
Coordinate position, cargo size, freight container inside dimension data message；
B. charge and discharge operations：
During incasement operation, the goods that need to be cased is transported to goods code successively by automatical pilot transportation vehicle according to prestowage scheme first
Coordinate position is put, then this logistics code fetch car starts, industrial control computer control elements of a fix movement control loop and pallet fork
Span regulating loop is started working, and industrial control computer controls running part (2) action coordinate according to the goods information inputted
It is mobile, at the same industrial control computer according to the cargo size information of input control pallet fork passage component actuation make pallet fork (53) it
Between span adjust to coordinate cargo size setting width dimensions；Then industrial control computer control reprint control loop and
Started working apart from feedback control loop, industrial control computer piles up coordinate according to the cargo size information and goods that have inputted
Positional information and the feedback identifying information of the barcode scanning identification device on goods shelf (52) establish goods fork holding position and fork dress depth
Mathematical modeling, then industrial control computer according to mathematical modeling control hydraulic system make door frame pitching hydraulic cylinder, crotch lift
Hydraulic cylinder action carries out fork dress, range sensor Real-time Feedback goods shelf (52) and goods during fork fills on goods shelf (52)
The distance between with ensure pitch dress depth；Complete goods fork and fill postindustrial control computer according to prestowage scheme and goods vanning position
Confidence breath, freight container inside dimension data message order carry out goods fork dress and coordinate movement successively on Self-loading-unloading platform
In to freight container setting position and pile up completion vanning；
Unload operation when, this logistics code fetch car starts, industrial control computer control elements of a fix movement control loop and pallet fork
Span regulating loop is started working, and industrial control computer is according to freight container inside dimension data message, the goods inputted
Thing dimension information, goods vanning positional information and prestowage scheme control running part (2) action coordinate are moved in freight container,
Industrial control computer controls pallet fork passage component actuation to make between pallet fork (53) according to the cargo size information of input simultaneously
Span is adjusted to the setting width dimensions for coordinating cargo size；Then control loop and distance are reprinted in industrial control computer control
Feedback control loop is started working, and industrial control computer piles up coordinate position according to the cargo size information and goods that have inputted
Information and the feedback identifying information of the barcode scanning identification device on goods shelf (52) establish goods fork holding position and fork dress depth mathematics
Model, then industrial control computer according to mathematical modeling control hydraulic system make door frame pitching hydraulic cylinder, crotch raise-lower hydraulic
Cylinder action carries out fork dress, and the range sensor Real-time Feedback goods shelf (52) during fork fills on goods shelf (52) is between goods
Distance with ensure fork dress depth；Completion goods fork fills postindustrial control computer control running part (2) action coordinate and is moved to
Setting coordinate position on loading/unloading platform is piled up, while according to the barcode scanning identification device in prestowage scheme and goods shelf (52)
The goods information of feedback carries out record coordinate position, the like, until all fork dress is piled up to loading/unloading platform by goods
Setting coordinate position is completed to unload.
2. the application method of the logistics code fetch car according to claim 1 suitable for freight container, it is characterised in that institute
Also include pattern-recognition sensor on the goods shelf (52) of the logistics code fetch car used, electric-control system also includes fork holding position positioning
Control loop, industrial control computer electrically connect with pattern-recognition sensor；
Industrial control computer is according to cargo size information and pattern-recognition sensor during goods fork fills in described step b
The cargo location information of feedback establishes goods pattern-recognition data model, and by the goods pattern-recognition data model with having established
Fork holding position and fork dress depth mathematical modeling carry out correction integration, finally according to correction integrate after mathematical modeling control hydraulic pressure
System makes door frame pitching hydraulic cylinder, the action of crotch lifting hydraulic cylinder carry out fork dress.
3. the application method of the logistics code fetch car according to claim 2 suitable for freight container, it is characterised in that institute
The data input output ports of the logistics code fetch car used also include radio receiving transmitting module, and electric-control system also includes wireless receiving and dispatching control
Loop processed；
Industrial control computer is utilized by radio receiving transmitting module and wireless receiving and dispatching control loop and is wirelessly transferred in described step a
The goods vanning positional information, prestowage scheme, goods that freight container is received from upper end network pile up coordinate position, goods chi
Very little, freight container inside dimension data message；
Industrial control computer is in real time to upper end network feedback data information in described step b cargo handling processes.
4. the application method of the logistics code fetch car according to claim 3 suitable for freight container, it is characterised in that institute
The vehicle frame (1) of the logistics code fetch car used is provided with the support that multiple vertical directions are set and carries auxiliary hydraulic cylinder (11), and multiple supports carry
Auxiliary hydraulic cylinder (11) is uniformly arranged around pivoting support (3), and the cylinder body end that support carries auxiliary hydraulic cylinder (11) is fixedly mounted on car
On frame (1), support carries the disk roller axis extension that roller arrangement and roller arrangement are provided with the top of the telescopic end of auxiliary hydraulic cylinder (11)
Line is set by the centre of gyration of pivoting support (3), and support carries the control that auxiliary hydraulic cylinder (11) passes through fluid pressure line and hydraulic system
Valve group connection processed, electric-control system also include Auxiliary support loop；
In described step b cargo handling processes when in the prestowage scheme of input goods payload ratings information exceed industrial control computer
Auxiliary support loop is first begin to work during default heavy load starting weight, and industrial control computer control hydraulic system carries support
Auxiliary hydraulic cylinder (11) stretching support, which acts against, carries out auxiliary support load on the baseplane of support platform (4), then Industry Control meter
Calculation machine controls hydraulic system door frame pitching hydraulic cylinder, the action of crotch lifting hydraulic cylinder is carried out fork dress again.
5. the user of the logistics code fetch car suitable for freight container according to Claims 1-4 any claim
Method, it is characterised in that the running part (2) of used logistics code fetch car is universal to be comprised at least to roller arrangement, running part (2)
Four disk rollers, described hoofing part at least coordinates to be driven including four disk rollers, and every disk roller respectively drives with a disk roller
Connection, the roll outer surface of disk roller is provided with multiple along the spiral spiral salient in roll outer surface and multiple spiral salients
It is uniformly arranged along the pivot of disk roller, every two pieces disk roller, which is arranged concentrically and is respectively relative to vehicle frame (1), is symmetrical set structure
Into front roller wheel group and rear roll group, and front roller wheel group and rear roll group are symmetrical arranged relative to vehicle frame (1) is front and rear；Four disk rollers drive
It is dynamic to be electrically connected respectively with the industrial control computer of electric-control system；
Industrial control computer is by controlling different rotation directions and friction speed that four disk rollers drive to control car in described step b
The trend of frame (1).
6. the user of the logistics code fetch car suitable for freight container according to Claims 1-4 any claim
Method, it is characterised in that described pallet fork passage part includes pallet fork passage servomotor and horizontal erection is arranged on goods shelf
(52) the bidirectional screw bar on, bidirectional screw bar is connected with pallet fork passage servomotor and the bidirectional screw bar left and right ends body of rod
Upper to have oppositely oriented screw structure, described pallet fork (53), which is provided with to coordinate with bidirectional screw bar, is arranged on two-way spiral shell
Screw on swing arm, pallet fork passage servomotor electrically connect with the industrial control computer of electric-control system；
In described step b industrial control computer by control pallet fork elapse servomotor rotating adjust pallet fork (53) it
Between span.
7. the user of the logistics code fetch car suitable for freight container according to Claims 1-4 any claim
Method, it is characterised in that described pallet fork passage part includes horizontal set up and is arranged on that on goods shelf (52), telescopic direction is opposite
The two pieces pallet fork passage hydraulic cylinder of setting, the telescopic end of two pieces pallet fork passage hydraulic cylinder are connected with two pieces pallet fork (53) respectively, and two
Part pallet fork passage hydraulic cylinder is connected with the control valve group of hydraulic system by fluid pressure line respectively；
Industrial control computer is by controlling the extension elongation that hydraulic system makes two pieces pallet fork elapse hydraulic cylinder in described step b
The unbalance loading fork dress of span or pallet fork (53) between different adjustment pallet fork (53) piles up position.
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| CN109850456A (en) * | 2019-02-18 | 2019-06-07 | 重庆大学 | Building environment novel document delivery system |
| CN109969671A (en) * | 2019-03-08 | 2019-07-05 | 青岛日日顺物流有限公司 | A kind of unloading control method of unmanned dumper |
| CN111523835A (en) * | 2020-03-26 | 2020-08-11 | 浙江大华技术股份有限公司 | Intelligent loading method, device, system and computer readable storage medium |
| CN111943025A (en) * | 2020-08-12 | 2020-11-17 | 鹏程建设集团有限公司 | Plate hoisting device for building construction |
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